CN205417765U - Four wheel drive vehicle chassis - Google Patents
Four wheel drive vehicle chassis Download PDFInfo
- Publication number
- CN205417765U CN205417765U CN201520703237.6U CN201520703237U CN205417765U CN 205417765 U CN205417765 U CN 205417765U CN 201520703237 U CN201520703237 U CN 201520703237U CN 205417765 U CN205417765 U CN 205417765U
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- China
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- vehicle
- assembly
- frame
- combination bearing
- wheel drive
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Abstract
The utility model relates to a through the four wheel drive vehicle chassis of drive to the flow control. Intelligent vehicle is favorable to improving traffic efficiency with the traffic system, reduces the accident rate, and autopilot vehicle network technique is applied to traditional vehicle chassis and exists in the aspect of mobility and travelling active control and limit greatly. Consequently the utility model discloses overcome above technique limitation, through before the articulated formula, back sub vehicle frame assembly, utilize moment to realize to the flow control before, the whole rotation of back sub vehicle frame to it turns to and the translation to control whole chassis. The utility model is suitable for a military vehicle, autopilot vehicle and the chassis system of robot that expect much to mobility and travelling.
Description
Technical field
This utility model belongs to vehicle chassis field, is specifically related to realize, by the vector controlled to the driving of each wheel, the vehicle chassis turning to and translating.
Background technology
Intelligent System of Vehicle and traffic system have become as vehicle research and development and the important topic of railway and highway system design.Intelligent System of Vehicle and railway and highway system are conducive to improving traffic efficiency, reduce accident rate and strengthen the driveability of motor vehicles.Military transit equipment and civilian traffic system will use automatic Pilot and car networking technology in a large number.The application of these technology to mobility and the travelling of vehicle it is also proposed that requirements at the higher level.Traditional steering mechanism and centralized dynamical system are the designs with driver as core, and automatic Pilot and vehicle network technology will more pay close attention to intelligent vehicle and railway and highway system itself.In this case, considerable restraint, in terms of mobility and travelling actively control, is brought to the realization of automatic driving vehicle in conventional truck chassis.Therefore this utility model overcomes above technology to limit to, and is a kind of four-wheel drive vehicle chassis turned to by moment vector control realization.This utility model is highly suitable for military vehicle, automatic driving vehicle and the robot chassis system high to mobility and travelling requirement.
Summary of the invention
This utility model is a kind of brand-new four-wheel drive chassis, use hinged forward and backward subframe assembly, by four driving wheel rotating speeds and moment of torsion, and the control of braking moment, make forward and backward subframe assembly rotate around respective hinged stub the most as required, thus realize turning to and translating.This utility model instead of traditional steering, has control flexibly, simple in construction, and versatility advantages of higher can be used for military vehicle, automatic driving vehicle and robot chassis system.
This utility model is by fore sub frame assembly, Rear secondary frame for vehicle assembly, combination bearing, elastic aligning device, vehicle frame, power unit and electronic control system composition.Forward and backward subframe assembly is articulated with vehicle frame rear and front end by a pair combination bearing respectively；The axis of the upper and lower combination bearing of every pair of combination bearing constitutes hinged stub；Elastic aligning device connecting frame and subframe assembly；Subframe assembly includes subframe, wheel, arrestment mechanism and suspension system；Power unit has four groups, is arranged on vehicle frame, drives four wheels respectively；Electronic control system accurately controls rotating speed and the moment of torsion of four power units, and braking moment.
Forward and backward subframe assembly is characterised by that fore sub frame assembly and Rear secondary frame for vehicle assembly have identical structure and composition；The total Chengdu of forward and backward subframe includes subframe, wheel, arrestment mechanism and suspension system；Have on described subframe two for the bearing block installing combination bearing, hinged with vehicle frame by combination bearing.
It is forward and backward two right that combination bearing is characterised by that combination bearing has, and every pair of combination bearing has upper and lower two combination bearings, and each combination bearing is made up of bearing and rubber bushing；The axis of every pair of combination bearing point-blank, the most hinged main pin axis of this straight line.Forward and backward subframe assembly rotates rotating around respective hinged main pin axis；Hinged main pin axis is on longitudinally asymmetric, and has angle with vertical direction, makes the aligning torque of forward and backward subframe assembly self-aligning producing of gravity.
Vehicle frame is characterised by that all there is the bearing block installing combination bearing at forward and backward two ends, hinged by a pair combination bearing and described forward and backward subframe assembly respectively.
Elastic aligning device is characterised by that elastic aligning device has flexible member, and each time positive elastic device couples forward and backward subframe assembly and vehicle frame respectively.When subframe assembly is positioned at intermediate equilibria position relative to vehicle frame, elastic aligning device does not provide aligning torque；When subframe assembly is relative to vehicle frame deviation intermediate equilibria position, elastic aligning device produces the aligning torque making subframe position assembly return to intermediate equilibria position.
The feature of power unit has four groups at power unit, four wheels of independent driving；Power unit is installed on vehicle frame, does not rotates with forward and backward subframe assembly.
Electronic control system is characterised by that electronic control system accurately controls to drive rotating speed and the moment of torsion of motor, and brake torque, make to produce on the wheel of both sides the torque difference of setting, so that forward and backward subframe assembly rotating around hinged stub towards in the same direction or rotate backward the angle of setting, it is achieved chassis turns to and translates.
Accompanying drawing explanation
Fig. 1: chassis integral layout schematic diagram
Fig. 2: chassis toe lateral pseudosection
Fig. 3: fore sub frame assembly schematic diagram
Fig. 4: subframe schematic diagram
Fig. 5: aligning device profile
Fig. 6: aligning device part-structure schematic diagram ()
Fig. 7: aligning device part-structure schematic diagram (two)
Fig. 8: combination bearing profile
Fig. 9: vehicle frame schematic diagram
Figure 10: vehicle frame partial enlarged drawing
Figure 11: vehicle frame and power unit schematic diagram
Figure 12: electronic control system schematic diagram
Figure 13: chassis turns to schematic diagram
Figure 14: chassis translation schematic diagram
Numbering and title: 1, fore sub frame assembly；2, rear secondary vehicle carriage assembly；3, vehicle frame；4, left front power unit；5, right front power unit；6, left back power unit；7, power unit behind the right side；8, elastic aligning device (front)；9, elastic aligning device (afterwards) 10, electronic control system；11, lower combination bearing；12, upper combination bearing；13, lower combination bearing thrust piece；14, upper combination bearing thrust piece；A, hinged stub；α, hinged caster；15, front left wheel；16, right front wheel；17, left front suspension system；18, right front suspension system；19, left front arrestment mechanism；20, right front arrestment mechanism；21, fore sub frame；22, step；23, top chock；24, universal joint spherical roller chute；25, elastic aligning device base；26, elastic aligning device shell；27, limit spring；28, universal joint cylinder outer race；29, lining；30, positive spring is reversely returned；31, forward returns positive spring；32, universal joint lateral pin；33, spherical roller；34, main story moving axis is returned；35, positive swing arm is returned；36, return and just putting pin；37, forward returns positive spring retainer post；38, forward returns positive spring fixed end；39；Aligning device base installing hole；40, positive spring retainer post is reversely returned；41, universal joint spherical roller chute；42, positive spring fixed end is reversely returned；43, aligning device shell installing hole；44, rolling bearing；45, rubber bushing part；46. rolling bearing inner rings；47, rolling element；48, housing washer both rubber bushing inner rings；49, rubber；50, rubber bushing outer ring；51, mounting flange；52, flange mounting hole；53, vehicle frame front end top chock；54, vehicle frame front end step；55. vehicle frame rear end top chocks；56, vehicle frame rear end step；57, vehicle frame rear end combination bearing mounting seat installing hole；58, vehicle frame rear end combination bearing mounting seat installing hole；59, power source；60, machine is driven；61, deceleration device；62, semiaxis；63, outer end constant velocity cardan joint；64, inner constant velocity cardan joint.
Detailed description of the invention
Based on above summary of the invention, this utility model can be implemented as follows.
This utility model is made up of fore sub frame assembly 1, Rear secondary frame for vehicle assembly 2, combination bearing 11,12, elastic centering mechanism 8,9, vehicle frame 3, power unit 4,5,6,7, and electronic control system 10.
As it is shown in figure 1, fore sub frame assembly 1, Rear secondary frame for vehicle assembly 2 lay respectively at two ends before and after vehicle frame 3.Power unit 5 being formed integrally structure before left front power unit 4 and the right side, is positioned at vehicle frame 3 anterior；Power unit 7 being formed integrally structure after left back power unit 6 and the right side, is positioned at vehicle frame 3 rear portion.
Being illustrated in figure 2 chassis toe lateral pseudosection, rear portion, chassis has identical structure.Combination bearing 11 and combination bearing 12 are a pair combination bearing, and their axis point-blank, constitutes hinged stub A；On longitudinally asymmetric, hinged stub A and vertical direction have angle α；The inner ring 46 of combination bearing 11 and subframe 21(Fig. 3) on step 22(Fig. 4) coordinate, the inner ring of combination bearing 11 is fixed by lower combination bearing thrust piece 13；The outer ring 50 of combination bearing 11 and vehicle frame front end step 54(Fig. 9) coordinate, by flange 51 and installing hole 52(Fig. 8), 58(Figure 10) fixing.The inner ring 46 of combination bearing 12 and subframe 21(Fig. 3) on top chock 23(Fig. 4) coordinate, the inner ring of combination bearing 12 is fixed by upper combination bearing thrust piece 14；The outer ring 50 of combination bearing 11 and vehicle frame front end step 54(Fig. 9) coordinate, by flange 51 and installing hole 52(Fig. 8), 58(Figure 10) fixing.Aligning device 8, its shell 26 and base 25(Fig. 5) utilize installing hole 39(Fig. 6), 43(Fig. 7) be installed to vehicle frame front end top chock 53(Fig. 9) on；Its time main story moving axis 34(Fig. 5) lower end, extend into mounting seat 23(Fig. 4 on the subframe of hollow) in, spherical roller 33(Fig. 5) slip into spherical roller chute 24(Fig. 4) in.
Being illustrated in figure 3 fore sub frame assembly, Rear secondary frame for vehicle assembly has identical structure and composition.Left front suspension system 17 and right front suspension system 18 are installed on subframe 21.Left front arrestment mechanism 19 and the near front wheel 15 are installed on left front suspension 17；Before right, arrestment mechanism 20 and off-front wheel 16 are installed on right front suspension 18.
Aligning device profile as shown in Figure 5, it is horizontally through two lateral pins 32 at the two ends returning main story moving axis 34, fixed by interference fit, it is cased with spherical roller 33 at the two ends of each lateral pin, the upper end returning main story moving axis is stretched in universal joint cylinder outer race 28, and spherical roller 33 slips into spherical roller chute 41(Fig. 7 of correspondence simultaneously).Universal joint cylinder outer race is arranged between base 25 and shell 26 by lining 29, can be freely rotatable.Returning positive swing arm 35, to be welded on universal joint cylinder outer race 28 outside, returns and is just putting pin 36 and be pressed into back in positive swing arm 35 by interference fit.
As shown in Figure 6 and Figure 7, it is a wind spring that forward returns positive spring 31, is wound on base 25 and one end is fixed on base 25, be stuck on stop post 37 after other end pretension；Reversely returning positive spring 30 is a wind spring, is wound in shell 26 and one end is fixed on shell 26, be stuck on stop post 40 after other end pretension.
Combination bearing profile as shown in Figure 8, the upper and lower bearing of every pair of combination bearing has identical structure.Combination bearing is combined by bearing 44 and rubber bushing 45, and bearing 44 can be rolling bearing, including inner ring 46, rolling element 47 and outer ring 48, it is also possible to ball pivot or lining；48 is also the inner ring of rubber bushing simultaneously, and rubber 49 vulcanizes between rubber bushing inner ring 48 rubber bushing outer ring 50, has step surface on 48 and 50, and rubber bushing 45 can be made to bear bigger axial force.Combination bearing can support the subframe assembly 1 and 2 needing to rotate around main pin axis, for two-stage vibration isolation, compensates the malformation in manufacture, alignment error and chassis running.
In the running of chassis, when subframe assembly rotates, due to the existence of hinged caster α, single wheel can raise, and opposite side wheel can decline, and the effect at gravity has the trend making subframe assembly return to intermediate equilibria position；Simultaneously, spherical roller chute within subframe top chock 23 can drive spherical roller 33, main story moving axis 34 is twisted back by lateral pin 32, return the main story moving axis 34 lateral pin 32 by the other end and spherical roller 33, utilize the spherical roller chute 41 in universal joint cylinder outer race 28 to make universal joint cylinder outer race 28 rotate accordingly；Outside time positive swing arm 35 of universal joint cylinder outer race 28 then can drive rocking pin 36 to swing, and promotes go back to one end of positive spring 30 or 31.Return the counteracting force of positive spring 30 or 31, form aligning torque, react on subframe assembly by inciting somebody to action back positive force with upper pathway.When subframe assembly returns to middle gentle position, due to the backstop of stopper posts 37 and 40, the counteracting force of spring 30 and 31 will not be applied on rocking pin 36, and aligning torque disappears.Limit spring, for supporting and limit go back to the bearing housing position of main story moving axis 34, can relax the vibration in the driving process of chassis and impact simultaneously, and anti-non-return positive drive axle 34 clashes into other parts and produces noise.Return positive universal joint 24,27,28,32,33,34 and 41 for compensating owing to combination bearing rubber bushing part deforms the deviations of the aligning device caused.
Fore sub frame assembly 1 and Rear secondary frame for vehicle assembly 2 have identical time positive mechanism, can automatically correct the weak impact from ground and cause the small angle deflection of subframe assembly.
As shown in figure 11, four power units 4,5,6,7(Fig. 1) be installed in vehicle frame 3(Fig. 1) on, as a example by left back power unit 6, driving machine 60 is by deceleration device 61, semiaxis 61, inner constant velocity cardan joint 64, outer end constant velocity cardan joint 63 imparts power to wheel.Driving machine 60 can be motor, hydraulic motor or put-put.Additionally power source 59 may be mounted at bottom chassis 3.
As shown in figure 12, electronic control system 10 controls output speed and the moment of torsion of four power units, and the braking moment of four arrestment mechanisms, when difference occurs in the output torque of left and right wheels on subframe assembly, whole subframe assembly will be made under the effect of frictional ground force to rotate around hinged stub.
When the electronic control system forward and backward subframe of control rotates backward around respective hinged stub around assembly, chassis realizes divertical motion (Figure 13), and turning center can change according to forward and backward subframe assembly outer corner difference.When electronic control system control forward and backward subframe around assembly respective around hinged stub rotating in same direction time, chassis realizes translational motion (Figure 14).
Above-mentioned embodiment only for technology design and the feature of the invention of this reality are described, can not limit protection domain of the present utility model with this.All equivalent transformations done according to the spirit of this utility model main technical schemes or modification, all should contain within protection domain of the present utility model.
Claims (8)
1. four-wheel drive vehicle chassis includes a fore sub frame assembly, Rear secondary frame for vehicle assembly, combination bearing, elastic aligning device, vehicle frame, power unit and electronic control system, it is characterised in that fore sub frame assembly and Rear secondary frame for vehicle assembly are articulated with vehicle frame rear and front end by a pair combination bearing respectively；The axis of the upper and lower combination bearing of every pair of combination bearing constitutes hinged stub；Elastic aligning device connecting frame and subframe assembly；Power unit has four groups, is arranged on vehicle frame, drives four wheels respectively；Electronic control system accurately controls four vehicle wheel rotational speeds and moment of torsion, and braking moment.
A kind of four-wheel drive vehicle chassis, it is characterised in that described fore sub frame assembly and described Rear secondary frame for vehicle assembly have identical structure and composition, including subframe, wheel, arrestment mechanism and suspension system.
A kind of four-wheel drive vehicle chassis, it is characterised in that have two coaxial bearing blocks for installing described combination bearing on described subframe.
A kind of four-wheel drive vehicle chassis, it is characterized in that described combination bearing has forward and backward two right, every pair of combination bearing includes upper and lower two combination bearings, each combination bearing is made up of coaxial bearing and rubber bushing, the axis of every pair of combination bearing is point-blank, the most hinged main pin axis of this straight line, hinged main pin axis is in the longitudinally asymmetric plane in described a kind of four-wheel drive vehicle chassis.
A kind of four-wheel drive vehicle chassis, it is characterized in that the forward and backward two ends of described vehicle frame are respectively arranged with two coaxial bearing blocks for installing combination bearing, described vehicle frame front end is hinged with described fore sub frame assembly by described combination bearing, and described vehicle frame rear end is hinged with Rear secondary frame for vehicle assembly by described combination bearing.
A kind of four-wheel drive vehicle chassis, it is characterized in that elastic aligning device couples described fore sub frame assembly and described vehicle frame, described Rear secondary frame for vehicle assembly and described vehicle frame respectively, when described fore sub frame assembly or described Rear secondary frame for vehicle assembly are positioned at intermediate equilibria position relative to described vehicle frame, described elastic aligning device does not provide aligning torque；When described fore sub frame assembly or described subframe assembly are relative to described vehicle frame deviation intermediate equilibria position, described elastic aligning device produces the aligning torque making described fore sub frame assembly or Rear secondary frame for vehicle position assembly return to intermediate equilibria position.
A kind of four-wheel drive vehicle chassis, it is characterised in that described power unit has four groups, four wheels of independent driving, it is installed on described vehicle frame, does not rotates with described fore sub frame assembly or described Rear secondary frame for vehicle assembly.
A kind of four-wheel drive vehicle chassis, it is characterized in that described electronic control system accurately controls to drive rotating speed and the moment of torsion of motor, and brake torque, make to produce on the wheel of both sides the torque difference of setting, so that described forward and backward subframe assembly in the same direction or rotates backward the angle of setting rotating around respective described hinged stub, it is achieved the turning to and translating of four-wheel drive vehicle chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520703237.6U CN205417765U (en) | 2015-09-13 | 2015-09-13 | Four wheel drive vehicle chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520703237.6U CN205417765U (en) | 2015-09-13 | 2015-09-13 | Four wheel drive vehicle chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205417765U true CN205417765U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520703237.6U Expired - Fee Related CN205417765U (en) | 2015-09-13 | 2015-09-13 | Four wheel drive vehicle chassis |
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| Country | Link |
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| CN (1) | CN205417765U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515854A (en) * | 2015-09-13 | 2017-03-22 | 吴昊天 | Four-wheel drive vehicle chassis |
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2015
- 2015-09-13 CN CN201520703237.6U patent/CN205417765U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515854A (en) * | 2015-09-13 | 2017-03-22 | 吴昊天 | Four-wheel drive vehicle chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20190913 |